4.750“

12cm

POWER PM

AC

Power Brick LV Connector Layout and Specifications

Delta Tau Data Systems, Inc

21314 Lassen Street

Chatsworth CA 91311

tel +1 818 998-2095

fax +1 818 998-7807

sales@deltatau.com

www.deltatau.com

you can also find us on...

Delta TauHeadquarters

Branch O cesTech CentersDistributors & Integrators

Worldwide Support

POWER Brick LV

BRAINS WITH BRAWNAll-in-One:

Integrated Controller and Low Votage Amplifiers

CONNECTOR LAYOUT8-Axis Model Shown

Top View

Bottom View

Motor # 1

Motor # 3

Motor # 2

Motor #4

Motor # 5

Motor # 6

Motor # 7

Motor # 8

Endoders # 1 to 4

Endoders # 5 to 8

R232

Analog I/O

EtherCAT

AMP Status

Fieldbus

DC Bus Input

Analog I/O

Limits & Flags

STO

24V LogicGP Digital I/O

Power Brick LV Specs & Channel ConfigurationsOutput Continuous Current (rms/axis) 0.25A 1A 5A

Output Peak Current for 1 second (rms/axis) 0.75A 3A 15A

Max ADC (I2T Settings) 1.6925A 6.77A 33.85A

PWM Frequency Operating Range [KHz] <100 <30

PWM Frequency Recommended [KHz} 40 20

DC Input Line Voltage [VDC] 12V to 60V (80V Max)

Logic Power [VDC, A] 24V, 4A

USB

Ethernet

Watchdog & Abort

13.396“

(34 cm)

7.750“

19.685cm

MACRO

Max Output Per Axis [Watts]

www.motiontech.com.au

The Delta Tau DifferencePower Brick LV New Ideas in Motion . . .

About the Power Brick LV The Power Brick LV is an

integrated fully scalable Machine and Motion Controller combining the

brains of the cutting edge Power PMAC processor, the unsurpassed

custom-designed Digital Signal Processor Gate3, and the low

voltage brawns of the latest high performance MOSFET-based drives

technology into one compact 4 or 8-axis servo package drive.

Additional axes are available via MACRO (high speed fiber optic

network) and/or EtherCat for a possible total of 104 (8 + 32 MACRO

+ 64 EtherCat) axes of centralized and coordinated motion control.

8 - Axis Power Brick LV (pictured here)

Motor Control

The Power Brick LV performs current loop closure, commutation

and servo loop closure to drive directly:

• AC/DC Brushless servo (synchronous) linear / rotary motors

• DC Brush and Voicecoil motors• Low Voltage Stepper motors

Encoder Support

The Power Brick LV can interface with one or a combination of the

following types of feedback devices:

• Quadrature

• Sinusoidal x 16K/64K• Resolver• Halls (60oe/120oe)• Kawasaki• Analog +/- 10VDC

• LVDT / MLDT• Mitsubishi• Panasonic• Yaskawa• Nikon-D• BiSS-B/C

• EnDat 2.1/2.2• Mitutoyo• Tamagawa• SSI • HiperFace

Fieldbus Connectivity

Servo• MACRO (Master/Slave)• EtherCAT (Master)

I/O• EtherNet/IP (Scanner/Adapter)• EtherCAT (Master/Slave)• Profibus-DP (Master/Slave)• DeviceNet (Master/Slave)

• CANopen (Master/Slave)• Open Modbus (Master/Slave)• CC-Link (Slave)

• Profinet IO RT (Controller/Device)

GP Digital Inputs/Outputs - Relays

The Power Brick LV can be equipped with:• 8 x general purpose relays• 32 x digital inputs 12-24VDC • 16 x digital outputs 12-24VDC 500 mA

All protected and optically isolated. Can be

either sinking or sourcing. Thousands of

additional digital inputs and outputs can

be added via various fieldbus options.

GP Analog Inputs/Outputs- PFM

The Power Brick LV can carry up to:• 8 x Pulse and Direction / PFM outputs• 8 x 16-bit analog inputs (+/-10V)• 8 x 14-bit analog outputs (+/-10V)

Safety & Other Features• Safe Torque Off (STO) with dynamic braking

• Abort Input for safe stop

• Watchdog output

• Over / Under voltage faults

• Short circuit, overcurrent protection

• Hardware / Software thermal I2T protection

• Motor thermal inputs (PTC)

• Encoder count error and encoder loss detection

• Dedicated brake relays and power input (24V)

• Plus/Minus over-travel, home, user inputs

• Software over-travel limits

• Warning/fatal following error limits

• High speed capture outputs

• Internal and external shunt resistors

A highly integrated and compact automation controller for low voltage applications

About the Power PMAC The power and flexibility of the Power

PMAC allows the integration of the Power PMAC EtherLite in virtually any

kind of industrial motion control application.

Motor Servo Control• Extremely fast update rates (Phase and Servo)

• Standard PID with full feedforward model

• Powerful automatic tuning and analyzer tools

• Analog, Pulse Width Modulated (PWM), Pulse Frequency Modulated

(PFM), MACRO or EtherCAT Outputs

• Vibration suppression filters

• Multiple 7th order notch and low pass filters

• Adaptive control for varying loads

• Cascaded loops (force, height, camera auto-focus control)

• Support for custom-written commutation routines

• Support for custom-written servo routines

• Custom routines directly in C or from MATLAB®/Simulink®

Coordinate Systems / Forward and Inverse Kinematics• Up to 256 axes of coordinated or independent motion

• Up to 128 independent coordinate systems

• Up to 32 independent axes per coordinate system

• Dynamic axes transformations (e.g. offsets, rotations, mirroring)

• Forward/Inverse kinematics for non-linear mechanisms

-User defined routines convert between tool tip coordinates and actuator positions

-Permits direct specification of tool tip path

Trajectory Generation - Motion Programs• Auto-coordination of multiple sets of axes

• Linear, circular, rapid, position-velocity-time (PVT), LIN to PVT

(curve fit), Spline move modes

• Seamless blending between linear, circular and PVT modes

• Automatic move until trigger (hardware input)

• True S-Curve accel / decel

• All move modes supported with user kinematics

• Dynamic multi-block lookahead with velocity/acceleration control

and jerk limit

• Sub-millisecond segmentation time

• Negative feedrate for true motion reversal in lookahead

• Move block execution rate up to 10,000 blocks/sec

• G-code, M-code, and T-code ready

• Calculations and I/O synchronous to motion

• Tool radius compensation, 2D or 3D

Programmable Logic Control (PLCs)• Access to all registers

• Trigonometric, transcendental, vector and matrix functions

• 64-bit floating-point architecture optimized math

• Executive functions for standalone operation

• Data gathering of up to 128 hardware/software registers per servo cycle

• Program in PMAC Script

• Program in ANSI C:

-Real time with preemptive kernel routines

-General purpose routines

-MATLAB®/Simulink® Embedded Coder® generated code

Compensation Tables• Position/torque compensation tables in 1D, 2D, or 3D

with rollover and mirroring options

• 1st/3rd order interpolation between points every servo cycle

• Up to 256 compensation tables (64K each)

• Support for superimposed compensation table results

• Backlash compensation, fixed or in tables

Hardware Position Capture and Compare• Specialized circuitry tying encoder counts to digital I/O

• I/O on exact count (w/sub-count interpolation) at any speed

(within 10 nanoseconds)

• For probing, registration, measurement trigger, laser firing

Gantry Control• Follower motor(s) executes leader’s trajectory

• Automatic skew removal on homing

• Automatic gantry cross-coupling servo correction

Electronic Gearing and Cams• Powerful master/slave techniques

• Position following (gearing) requires no program for motion

• External time base (cam) keeps full trajectory flexibility (non-returning,

limited reversal, e.g. moving web application)

• Up to 256 cam tables (16k points each)

- Position/torque profile(s)

- Returning, forward/reverse travel

- Extremely precise synchronized outputs

The Delta Tau DifferencePower Brick LV New Ideas in Motion . . .

About the Power Brick LV The Power Brick LV is an

integrated fully scalable Machine and Motion Controller combining the

brains of the cutting edge Power PMAC processor, the unsurpassed

custom-designed Digital Signal Processor Gate3, and the low

voltage brawns of the latest high performance MOSFET-based drives

technology into one compact 4 or 8-axis servo package drive.

Additional axes are available via MACRO (high speed fiber optic

network) and/or EtherCat for a possible total of 104 (8 + 32 MACRO

+ 64 EtherCat) axes of centralized and coordinated motion control.

8 - Axis Power Brick LV (pictured here)

Motor Control

The Power Brick LV performs current loop closure, commutation

and servo loop closure to drive directly:

• AC/DC Brushless servo (synchronous) linear / rotary motors

• DC Brush and Voicecoil motors• Low Voltage Stepper motors

Encoder Support

The Power Brick LV can interface with one or a combination of the

following types of feedback devices:

• Quadrature

• Sinusoidal x 16K/64K• Resolver• Halls (60oe/120oe)• Kawasaki• Analog +/- 10VDC

• LVDT / MLDT• Mitsubishi• Panasonic• Yaskawa• Nikon-D• BiSS-B/C

• EnDat 2.1/2.2• Mitutoyo• Tamagawa• SSI • HiperFace

Fieldbus Connectivity

Servo• MACRO (Master/Slave)• EtherCAT (Master)

I/O• EtherNet/IP (Scanner/Adapter)• EtherCAT (Master/Slave)• Profibus-DP (Master/Slave)• DeviceNet (Master/Slave)

• CANopen (Master/Slave)• Open Modbus (Master/Slave)• CC-Link (Slave)

• Profinet IO RT (Controller/Device)

GP Digital Inputs/Outputs - Relays

The Power Brick LV can be equipped with:• 8 x general purpose relays• 32 x digital inputs 12-24VDC • 16 x digital outputs 12-24VDC 500 mA

All protected and optically isolated. Can be

either sinking or sourcing. Thousands of

additional digital inputs and outputs can

be added via various fieldbus options.

GP Analog Inputs/Outputs- PFM

The Power Brick LV can carry up to:• 8 x Pulse and Direction / PFM outputs• 8 x 16-bit analog inputs (+/-10V)• 8 x 14-bit analog outputs (+/-10V)

Safety & Other Features• Safe Torque Off (STO) with dynamic braking

• Abort Input for safe stop

• Watchdog output

• Over / Under voltage faults

• Short circuit, overcurrent protection

• Hardware / Software thermal I2T protection

• Motor thermal inputs (PTC)

• Encoder count error and encoder loss detection

• Dedicated brake relays and power input (24V)

• Plus/Minus over-travel, home, user inputs

• Software over-travel limits

• Warning/fatal following error limits

• High speed capture outputs

• Internal and external shunt resistors

A highly integrated and compact automation controller for low voltage applications

About the Power PMAC The power and flexibility of the Power

PMAC allows the integration of the Power PMAC EtherLite in virtually any

kind of industrial motion control application.

Motor Servo Control• Extremely fast update rates (Phase and Servo)

• Standard PID with full feedforward model

• Powerful automatic tuning and analyzer tools

• Analog, Pulse Width Modulated (PWM), Pulse Frequency Modulated

(PFM), MACRO or EtherCAT Outputs

• Vibration suppression filters

• Multiple 7th order notch and low pass filters

• Adaptive control for varying loads

• Cascaded loops (force, height, camera auto-focus control)

• Support for custom-written commutation routines

• Support for custom-written servo routines

• Custom routines directly in C or from MATLAB®/Simulink®

Coordinate Systems / Forward and Inverse Kinematics• Up to 256 axes of coordinated or independent motion

• Up to 128 independent coordinate systems

• Up to 32 independent axes per coordinate system

• Dynamic axes transformations (e.g. offsets, rotations, mirroring)

• Forward/Inverse kinematics for non-linear mechanisms

-User defined routines convert between tool tip coordinates and actuator positions

-Permits direct specification of tool tip path

Trajectory Generation - Motion Programs• Auto-coordination of multiple sets of axes

• Linear, circular, rapid, position-velocity-time (PVT), LIN to PVT

(curve fit), Spline move modes

• Seamless blending between linear, circular and PVT modes

• Automatic move until trigger (hardware input)

• True S-Curve accel / decel

• All move modes supported with user kinematics

• Dynamic multi-block lookahead with velocity/acceleration control

and jerk limit

• Sub-millisecond segmentation time

• Negative feedrate for true motion reversal in lookahead

• Move block execution rate up to 10,000 blocks/sec

• G-code, M-code, and T-code ready

• Calculations and I/O synchronous to motion

• Tool radius compensation, 2D or 3D

Programmable Logic Control (PLCs)• Access to all registers

• Trigonometric, transcendental, vector and matrix functions

• 64-bit floating-point architecture optimized math

• Executive functions for standalone operation

• Data gathering of up to 128 hardware/software registers per servo cycle

• Program in PMAC Script

• Program in ANSI C:

-Real time with preemptive kernel routines

-General purpose routines

-MATLAB®/Simulink® Embedded Coder® generated code

Compensation Tables• Position/torque compensation tables in 1D, 2D, or 3D

with rollover and mirroring options

• 1st/3rd order interpolation between points every servo cycle

• Up to 256 compensation tables (64K each)

• Support for superimposed compensation table results

• Backlash compensation, fixed or in tables

Hardware Position Capture and Compare• Specialized circuitry tying encoder counts to digital I/O

• I/O on exact count (w/sub-count interpolation) at any speed

(within 10 nanoseconds)

• For probing, registration, measurement trigger, laser firing

Gantry Control• Follower motor(s) executes leader’s trajectory

• Automatic skew removal on homing

• Automatic gantry cross-coupling servo correction

Electronic Gearing and Cams• Powerful master/slave techniques

• Position following (gearing) requires no program for motion

• External time base (cam) keeps full trajectory flexibility (non-returning,

limited reversal, e.g. moving web application)

• Up to 256 cam tables (16k points each)

- Position/torque profile(s)

- Returning, forward/reverse travel

- Extremely precise synchronized outputs

4.750“

12cm

POWER PM

AC

Power Brick LV Connector Layout and Specifications

Delta Tau Data Systems, Inc

21314 Lassen Street

Chatsworth CA 91311

tel +1 818 998-2095

fax +1 818 998-7807

sales@deltatau.com

www.deltatau.com

you can also find us on...

Delta TauHeadquarters

Branch O cesTech CentersDistributors & Integrators

Worldwide Support

POWER Brick LV

BRAINS WITH BRAWNAll-in-One:

Integrated Controller and Low Votage Amplifiers

CONNECTOR LAYOUT8-Axis Model Shown

Top View

Bottom View

Motor # 1

Motor # 3

Motor # 2

Motor #4

Motor # 5

Motor # 6

Motor # 7

Motor # 8

Endoders # 1 to 4

Endoders # 5 to 8

R232

Analog I/O

EtherCAT

AMP Status

Fieldbus

DC Bus Input

Analog I/O

Limits & Flags

STO

24V Logic

GP Digital I/O

Power Brick LV Specs & Channel ConfigurationsOutput Continuous Current (rms/axis) 0.25A 1A 5A

Output Peak Current for 1 second (rms/axis) 0.75A 3A 15A

Max ADC (I2T Settings) 1.6925A 6.77A 33.85A

PWM Frequency Operating Range [KHz] <100 <30

PWM Frequency Recommended [KHz} 40 20

DC Input Line Voltage [VDC] 12V to 60V (80V Max)

Logic Power [VDC, A] 24V, 4A

USB

Ethernet

Watchdog & Abort

13.396“

(34 cm)

7.750“

19.685cm

MACRO

Max Output Per Axis [Watts]